Foreword

This book is the second volume in the Academic Press Electromagnetism Series, written by Professor Alain Bossavit, one of the most active researchers in the area of electromagnetic field calculations. Professor Bossavit is well known and highly regarded in the electromagnetic community for his seminal contributions to the field of computational electromagnetics. In particular, he has pioneered and strongly advocated the use of edge elements in field calculations. These elements, which are now widely accepted by engineers, have become indispensable tools in numerical analysis of electromagnetic fields. His work on the use of symmetry in numerical calculations, computational implementation of complementarity, and evaluation of electromagnetic forces have also been extremely important for the development of the field. This book reflects the unique expertise and extensive experience of the author. It is written with a strong emphasis on comprehensive and critical analysis of the foundations of numerical techniques used in field calculations. As a result, the book provides many valuable insights into the nature of these techniques. It contains information hardly available in other sources and no doubt will enrich the reader with new ideas and a better conceptual understanding of computational electromagnetics. The material presented in the book can be expected to contribute to the development of new and more sophisticated software for electromagnetic field analysis. The book is distinctly unique in its original style of exposition, its emphasis, and its conceptual depth. For this reason, it will be a valuable reference for both experts and beginners in the field. Researchers as well as practitioners will find this book challenging, stimulating, and rewarding.

Isaak Mayergoyz, Series Editor v

vi

Contents

Preface

xiii

CHAPTER

1 Introduction: Maxwell Equations

1 1 6 7 9 11 13 14 15 16 18 20 24 26 28

1.1 Field Equations 1.2 Constitutive Laws 1.2.1 Dynamics of free charges: the VlasovMaxwell model 1.2.2 Dynamics of conduction charges: Ohms law 1.2.3 Dynamics of bound charges: dielectric polarization 1.2.4 Magnetization 1.2.5 Summing up: linear materials 1.3 Macroscopic Interactions 1.3.1 Energy balance 1.3.2 Momentum balance 1.4 Derived Models Exercises Solutions References

CHAPTER

2 Magnetostatics: Scalar Potential Approach

31 31 33 33 37 39 41 42 45 47 vii

2.1 Introduction: A Model Problem 2.2 Honing Our Tools 2.2.1 Regularity and discontinuity of fields 2.2.2 Jumps 2.2.3 Alternatives to the standard formalism 2.3 Weak Formulations 2.3.1 The divergence side 2.3.2 The curl side 2.3.3 The uniqueness issue

viii 2.4 Modelling: The Scalar Potential Formulation 2.4.1 Restriction to a bounded domain 2.4.2 Introduction of a magnetic potential 2.4.3 Uniqueness 2.4.4 Laplace, Poisson, Dirichlet, and Neumann Exercises Solutions References

CONTENTS

48 48 51 53 55 56 57 59

CHAPTER

3 Solving for the Scalar Magnetic Potential

61 61 65 65 67 68 70 71 74 78 81 84 87 93

3.1 The Variational Formulation 3.2 Existence of a Solution 3.2.1 Trying to find one 3.2.2 * is too small 3.2.3 Completing * 3.3 Discretization 3.3.1 The RitzGalerkin method 3.3.2 Finite elements 3.3.3 The linear system 3.3.4 Assembly, matrix properties Exercises Solutions References

CHAPTER

4 The Approximate Scalar Potential: Properties and Shortcomings

95

4.1 The m-weak Properties 4.1.1 Flux losses 4.1.2 The dual mesh, and which fluxes are conserved 4.1.3 The flux through Sh 4.2 The Maximum Principle 4.2.1 Discrete maximum principle 4.2.2 VoronoiDelaunay tessellations and meshes 4.2.3 VD meshes and Stieltjes matrices 4.3 Convergence and Error Analysis 4.3.1 Interpolation error and approximation error 4.3.2 Taming the interpolation error: Zlamal's condition 4.3.3 Taming the interpolation error: flatness

95 96 99 103 105 105 107 109 111 113 114 116

CONTENTS

ix 119 120 123

Exercises Solutions References

CHAPTER

5 Whitney Elements

125 125 126 128 131 132 134 135 136 139 142 145 148 149 150 152 155 157 158 161

5.1 A Functional Framework 5.1.1 The weak grad, rot, and div 5.1.2 New functional spaces: L2grad, IL2rot, IL2div 5.1.3 Proof of Proposition 5.2 5.1.4 Extending the Poincar lemma 5.1.5 Maxwells house 5.2 The Whitney Complex 5.2.1 Oriented simplices 5.2.2 Whitney elements 5.2.3 Combinatorial properties of the complex 5.2.4 Topological properties of the complex 5.2.5 Metric properties of the complex 5.3 Trees and Cotrees 5.3.1 Homology 5.3.2 Trees, co-edges 5.3.3 Trees and graphs Exercises Solutions References

CHAPTER

6 The Curl Side: Complementarity

163 164 164 167 169 172 174 175 178 179 180 180 181

6.1 A Symmetrical Variational Formulation 6.1.1 Spaces of admissible fields 6.1.2 Variational characterization of the solution 6.1.3 Complementarity, hypercircle 6.1.4 Constrained linear systems 6.2 Solving the Magnetostatics Problem 6.2.1 Embedding the problem in MaxwellWhitneys house 6.2.2 Dealing with the constraints 6.2.3 m-weak properties 6.3 Why Not Standard Elements? 6.3.1 An apparent advantage: MP is regular 6.3.2 Accuracy is downgraded

x 6.3.3 The effective conditioning of the final matrix is worsened 6.3.4 Yes, but . . . 6.3.5 Conclusion Exercises Solutions References

CONTENTS

182 183 185 187 188 189

CHAPTER

7 Infinite Domains

193 193 195 196 198 199 200 201 202 203 203 205 207 208 212 214 216 217 217

7.1 Another Model Problem 7.2 Formulation 7.2.1 Functional spaces 7.2.2 Variational formulations 7.3 Discretization 7.3.1 First method: artificial boundary, at a distance 7.3.2 Second method: infinite elements 7.3.3 Third method: finite elements and integral method in association 7.4 The Dirichlet-to-Neumann Map 7.4.1 The functional space of traces 7.4.2 The interior Dirichlet-to-Neumann map 7.4.3 The exterior Dirichlet-to-Neumann map 7.4.4 Integral representation 7.4.5 Discretization 7.5 Back to Magnetostatics Exercises Solutions References

CHAPTER

8 Eddy-Current Problems

219 220 220 221 223 225 225 227 228

8.1 The Model in h 8.1.1 A typical problem 8.1.2 Dropping the displacement-currents term 8.1.3 The problem in h, in the harmonic regime 8.2 Infinite Domains: Trifou 8.2.1 Reduction to a problem on C 8.2.2 The space H, isomorphic to IKg 8.2.3 Reformulation of the problem in H

CONTENTS

xi 229 230 231 232 233 235 237 239 240 243 245

8.2.4 Final discrete formulation 8.2.5 Transient regimes 8.3 Bounded Domains: Trees, H 8.3.1 A constrained linear system 8.3.2 The tree method 8.3.3 The H method 8.3.4 Cuts 8.4 Summing Up Exercises Solutions References

CHAPTER

9 Maxwells Model in Harmonic Regime

247 247 247 249 250 250 252 255 257 257 258 260 262

9.1 A Concrete Problem: The Microwave Oven 9.1.1 Modelling 9.1.2 Position of the problem 9.2 The Continuous Problem 9.2.1 Existence 9.2.2 Uniqueness 9.2.3 More general weak formulations 9.3 The Discrete Problem 9.3.1 Finite elements for (10) or (11) 9.3.2 Discrete models 9.3.3 The question of spurious modes References

APPENDIX

A Mathematical Background

263 263 264 265 269 270 271 273 275 277 279

A.1 Basic Notions A.1.1 Sets, properties A.1.2 Relations and functions A.1.3 Families A.1.4 Binary relations A.1.5 Orders A.1.6 Equivalence classes, gauging A.1.7 Operations, structured sets A.1.8 Logic A.1.9 A notation for functions

xii A.2 Important Structures A.2.1 Groups A.2.2 Linear spaces: Vn, An A.2.3 Metric spaces A.2.4 Normed spaces, Euclidean norms A.3 Our Framework for Electromagnetism: E3 A.3.1 Grad, rot, and div A.3.2 Digression: the so-called axial vectors A.3.3 The Poincar lemma A.3.4 Symmetry in E3 A.4 Glimpses of Functional Analysis A.4.1 Completion, principle of extension by continuity A.4.2 Integration A.4.3 Hilbert spaces A.4.4 Closed linear relations, adjoints References

CONTENTS

282 282 283 288 291 294 294 296 298 300 304 304 306 310 315 317

APPENDIX

B LDLt Factorization and Constrained Linear Systems

319

B.1 Nonnegative Definite Matrices B.2 A Digression about Programming B.3 The LDLt Factorization B.4 Application to Constrained Linear Systems References

319 322 324 326 328

APPENDIX

C A Cheaper Way to Complementarity

329 330 333 336

C.1 Local Corrections C.2 Solving Problem (14) C.3 Conclusion and Speculations

Author Index

339

Subject Index

343